A PARTIAL STATE-FEEDBACK CONTROLLER FOR TRAJECTORY TRACKING OF RIGID-LINK FLEXIBLE-JOINT ROBOTS USING AN OBSERVED BACKSTEPPING APPROACH

被引：0
|
作者：
LIM, SY [1 ]
HU, J [1 ]
DAWSON, DM [1 ]
QUEIROZ, M [1 ]
机构：
[1] CLEMSON UNIV,CTR ADV MFG,DEPT ELECT & COMP ENGN,CLEMSON,SC 29634
来源：
JOURNAL OF ROBOTIC SYSTEMS | 1995年 / 12卷 / 11期
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This article presents a partial state feedback controller for a rigid-link flexible-joint (RLFJ) robot using an observed integrator backstepping approach. The robot controller requires only link position and actuator position measurements, and eliminates the need for measuring link velocity and actuator velocity. The controller uses two exact knowledge, second-order nonlinear observers to estimate the link and actuator velocities. The overall control system achieves a semiglobal exponential stability result for the link position and velocity tracking errors as well as the velocity observation errors. A stability proof and simulation results for the proposed partial state feedback controller are included in the article. (C) 1995 John Wiley & Sons, Inc.
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页码：727 / 746
页数：20
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